CN111526334A - Imaging target position servo control strategy based on PID algorithm - Google Patents
Imaging target position servo control strategy based on PID algorithm Download PDFInfo
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- CN111526334A CN111526334A CN202010368998.6A CN202010368998A CN111526334A CN 111526334 A CN111526334 A CN 111526334A CN 202010368998 A CN202010368998 A CN 202010368998A CN 111526334 A CN111526334 A CN 111526334A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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Abstract
The invention relates to an imaging target position servo control strategy based on a PID algorithm, which comprises an omnidirectional pan-tilt camera, wherein the omnidirectional pan-tilt camera is provided with a mechanism rotating horizontally by 360 degrees and vertically by 120 degrees, an image processor and a camera for image acquisition are arranged in the omnidirectional pan-tilt camera, and the image processor is provided with a position servo control method, which comprises the following steps: (1) acquiring an image f of the monitored environmenti(x, y); (2) the image processor extracts the position (x) of the monitoring targeto(i),yo(i) ); (3) calculating a position difference e (i) between the image center and the image center, and calculating angle parameters sin theta and cos theta; (4) calculating an adjusting speed omega based on a PID algorithm; (5) decomposing the regulation speed omega into a horizontal speed omegaHAnd velocity ω in the vertical directionV。
Description
Technical Field
The invention relates to a PID algorithm-based imaging target position servo control strategy, and belongs to the field of video monitoring.
Background
At present, surveillance cameras play more and more important roles in work and life of people, such as theft prevention, disaster prevention, assistance in the detection of civil and criminal cases, electronic traffic policemen and traffic flow management. However, the existing monitoring cameras are all fixed, and the shooting angle cannot be adjusted according to the position of a monitored target. Therefore, a monitoring dead angle is formed, the monitored target cannot be imaged, or the imaging area of the monitored target is located in the edge area of the image, the resolution is low, and the subsequent processing is difficult. Therefore, the intelligent monitoring camera is provided for tracking the suspicious monitored target, so that the imaging area of the suspicious monitored target is always in the central area of the image, and the imaging effect is optimal. Among them, how to control the camera to track the target quickly and stably becomes a subject.
Disclosure of Invention
The invention aims to overcome the technical defects and provides an imaging target position servo control strategy based on a PID algorithm, and the adopted technical scheme is as follows:
an imaging target position servo control strategy based on a PID algorithm comprises an omnidirectional pan-tilt camera, wherein the omnidirectional pan-tilt camera is provided with a mechanism rotating by 360 degrees horizontally and 120 degrees vertically, an image processor and a camera for image acquisition are arranged inside the omnidirectional pan-tilt camera, the image processor is provided with a position servo control method, and the position servo control method comprises the following steps:
(1) the image processor acquires the image of the monitored environment through the camera to obtain an image fi(X, Y), where X and Y are pixel coordinates, X ϵ (1, X), Y ϵ (1, Y), where X is the maximum value of the X pixel coordinates, Y is the maximum value of the Y pixel coordinates, and i is the calculated sequence value;
(2) the image processor extracts the position (x) of the monitoring targeto(i),yo(i))；
(3) Calculating a monitoring target (x)o(i),yo(i) Position difference e (i) = from the center of the image
Calculating an angle parameter sin θ = (y)o(i)-Y/2)/e(i)，cosθ=(xo(i)-X/2)/e(i)；
(4) And calculating the adjusting speed omega of the omnidirectional pan-tilt camera: ω = kp×e(i)+ki×
+kd× (e (i) -e (i-1)), wherein kpIs a proportionality coefficient, kiIs an integral coefficient, kdIs a differential coefficient, n is an intermediate variable;
(5) decomposing the regulation speed omega into a horizontal speed omegaHAnd velocity ω in the vertical directionV：ωH=ω×cosθ，ωV=ω×sinθ。
The velocity ω in the horizontal directionHSetting an upper limit value omegaHmaxSaid velocity ω in the vertical directionVSetting an upper limit value omegaVmax。
The implementation of the invention has the positive effects that: 1. the PID classical algorithm can track the monitored target rapidly and stably, and the parameter setting is simplified; 2. the monitoring imaging area is always positioned in the central area of the image, and the imaging effect is optimal. .
Drawings
Fig. 1 is an external view of an omnidirectional pan-tilt camera;
fig. 2 is an image processing schematic.
Detailed Description
The invention will now be further described with reference to the accompanying drawings in which:
referring to fig. 1-2, the imaging target position servo control strategy based on the PID algorithm includes an omnidirectional pan-tilt camera, which is provided with a mechanism for rotating horizontally by 360 degrees and vertically by 120 degrees. The omnidirectional pan-tilt camera is internally provided with an image processor and a camera for image acquisition, wherein the image processor is provided with a position servo control method, and the position servo control method comprises the following steps:
(1) the image processor acquires the image of the monitored environment through the camera to obtain an image fi(X, Y), where X and Y are pixel coordinates, X ϵ (1, X), Y ϵ (1, Y), where X is the maximum value of the X pixel coordinates, Y is the maximum value of the Y pixel coordinates, and i is the calculated sequence value;
(2) the image processor extracts the position (x) of the monitoring targeto(i),yo(i))；
The monitoring target can be a vehicle, a person and the like, and is determined according to the application.
(3) Calculating a monitoring target (x)o(i),yo(i) Position difference e (i) = from the center of the image
Calculating an angle parameter sin θ = (y)o(i)-Y/2)/e(i)，cosθ=(xo(i)-X/2)/e(i)；
The difference from the monitored target to the center of the image (X/2, Y/2) and the angular direction related parameters sin theta and cos theta are calculated.
(4) And calculating the adjusting speed omega of the omnidirectional pan-tilt camera: ω = kp×e(i)+ki×
+kd× (e (i) -e (i-1)), wherein kpIs a proportionality coefficient, kiIs an integral coefficient, kdIs a differential coefficient, n is an intermediate variable;
adopting a PID control algorithm to calculate the speed of the omnidirectional pan-tilt camera which needs to be subjected to direction adjustment, wherein the proportionality coefficient kpIntegral coefficient kiDifferential coefficient kdAnd calculating the magnitude of the adjusting speed according to the position difference e (i).
(5) Decomposing the regulation speed omega into a horizontal speed omegaHAnd velocity ω in the vertical directionV：ωH=ω×cosθ，ωV=ω×sinθ。
Since the omni-directional pan-tilt camera has two degrees of freedom, i.e., rotation in the horizontal direction and rotation in the vertical direction, the adjustment speed ω is resolved into two directions.
Optionally, in order to ensure that the monitoring target can clearly image in the adjustment process of the omnidirectional pan-tilt camera, the horizontal speed ω is adjustedHSetting an upper limit value omegaHmaxSaid velocity ω in the vertical directionVSetting an upper limit value omegaVmax。
Claims (2)
1. Imaging target position servo control strategy based on PID algorithm, including the cloud platform camera of qxcomm technology, the cloud platform camera of qxcomm technology set up 360 degrees rotations of level and perpendicular 120 degrees rotatory mechanisms, inside sets up image processor and carries out image acquisition's camera, its characterized in that: the image processor is provided with a position servo control method, and the position servo control method comprises the following steps:
(1) the image processor acquires the image of the monitored environment through the camera to obtain an image fi(X, Y), where X and Y are pixel coordinates, X ϵ (1, X), Y ϵ (1, Y), where X is the maximum value of the X pixel coordinates, Y is the maximum value of the Y pixel coordinates, and i is the calculated sequence value;
(2) the image processor extracts the position (x) of the monitoring targeto(i),yo(i))；
(3) Calculating a monitoring target (x)o(i),yo(i) Position difference e (i) = from the center of the image
Calculating an angle parameter sin θ = (y)o(i)-Y/2)/e(i)，cosθ=(xo(i)-X/2)/e(i)；
(4) And calculating the adjusting speed omega of the omnidirectional pan-tilt camera: ω = kp×e(i)+ki×
+kd× (e (i) -e (i-1)), wherein kpIs a proportionality coefficient, kiIs an integral coefficient, kdIs a differential coefficient, n is an intermediate variable;
(5) decomposing the regulation speed omega into a horizontal speed omegaHAnd velocity ω in the vertical directionV：ωH=ω×cosθ，ωV=ω×sinθ。
2. The PID algorithm-based imaging target position servo control strategy of claim 1, wherein: the velocity ω in the horizontal directionHSetting an upper limit value omegaHmaxSaid velocity ω in the vertical directionVSetting an upper limit value omegaVmax。
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| CN105635657A (en) * | 2014-11-03 | 2016-06-01 | 航天信息股份有限公司 | Camera holder omnibearing interaction method and device based on face detection |
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